Stochastic control and time scheduling for irregular robots |
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| Authors: | Hongjun Yu Yutong Liu Lihua Liang |
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| Institution: | 1. Building 35B, Harbin Engineering University, Harbin, China;2. Ingkarni Wardli Building, North Terrace campus, The University of Adelaide, Adelaide, Australia;3. Building 61, Harbin Engineering University, Harbin, China;1. School of Mathematics and Statistics, Northeast Normal University, Changchun 130024, China;2. School of Mathematics and Physics, Guangxi University for Nationalities, Nanning 530006, China;1. Smart Energy Systems Research Group, School of Engineering, Edith Cowan University, Australia;2. Department of Mechanical Engineering, School of Engineering, The University of Melbourne, Australia;1. College of Science, Hebei Agricultural University, Baoding 071001, China;2. School of Science, Nanjing University of Science and Technology, Nanjing 210094, China;3. School of Information Technology, Jiangxi University of Finance and Economics, Nanchang 330013, China;4. School of Mathematics and Physics, Anhui Polytechnic University, Wuhu 241000, China;1. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, Liaoning 110004, China;2. College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110004, China;3. College of Automation, Chongqing University, Chongqing 400044, China;4. College of Medicine and Biological Information Engineering, Northeastern University, Shenyang, Liaoning 110169, China;1. Department of Electrical Engineering, University of Chile, Av. Tupper 2007, Santiago, Chile;2. Departmento de Electricidad, Facultad de Ingeniería, Universidad Teconológica Metropolitana, Av. José Pedro Alessandri 1242, Santiago, Chile;3. Facultad de Ingeniería y Arquitectura, Universidad Central de Chile, Toesca 1783, Santiago, Chile;4. Advanced Mining Technology Center, University of Chile, Av. Tupper 2007, Santiago, Chile;5. Department of Industrial Technologies, University of Santiago of Chile, Av. El Belloto 3735, Santiago, Chile;6. Facultad de Ingeniería y Tecnología, Universidad San Sebastián, Bellavista 7, Santiago 8420524, Chile;7. Escuela de Negocios y Tecnología, Universidad Gabriela Mistral, Av. Ricardo Lyon 1177, Providencia, Santiago, Chile |
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| Abstract: | Vehicles of different sizes are difficult to navigate in close vicinity. In this paper, we propose multi-vehicle coordination strategy by stochastic control and time scheduling to guarantee no collisions. We use contours and relative motions of vehicles to calculate collision time and use it in multi-vehicle scheduling and reduce computation burden. The proposed strategy enables the vehicles to add calculation delay when vehicles are moving towards the destinations. To avoid complicated control rule design for motion-restricted irregular vehicles, we propose stochastic control to provide satisfactory performance. By changing the frequency of control update, a modification is proposed to take congestion into account. Simulation examples are given to demonstrate the effectiveness of the proposed approach. |
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